Object shape measurement system and object shape measurement method

Abstract

To measure the shape of an object by a simple method.SOLUTION: An object shape measurement system 1 includes a measurement apparatus 10 including a photographing apparatus 50 and an accelerometer 60, and an information processing apparatus 20, in which the information processing apparatus 20 stores images of an object located at a first point and a second point and acquired from the measurement apparatus 10 that has moved from the first point to the second point while photographing the image of the object, and accelerations measured by the accelerometer 60, calculates positions of the measurement apparatus 10 in a real space based on the accelerations, and calculates a position of the object in the images based on the images. Each distance between the measurement device 10 and the object in the real space is calculated based on each position of the measurement device 10 in the real space, the position of the object in each image, and the characteristic information of the imaging device 50, the position of the object in the real space is calculated based on each calculated distance, and the information of the calculated position in the real space is output to the output device.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to an object shape measurement system and an object shape measurement method. [Background technology]

[0002] When large equipment such as home appliances is delivered to and installed at a destination (such as a house), it is necessary to check whether there is sufficient installation space at the destination to deliver the equipment. To do this, it is necessary to know in advance the shape of the equipment and the structure of the destination (shape of floors, walls, etc.).

[0003] Patent Document 1 discloses an object measuring device that uses a machine learning model to recognize an object, automates the determination of the edge detection direction and the determination of the area where edge processing should be performed, and measures the shape of the object by highly accurate edge extraction, for example, in sub-pixel units, as a technology for automatically measuring the shape of an object. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Publication No. 2023-100159 Summary of the Invention [Problem to be solved by the invention]

[0005] There are many object recognition technologies, including that described in Patent Document 1. However, when considering applications such as carrying in equipment, highly accurate object recognition is not necessarily required; rather, it is desirable to be able to easily know the shape of an object depending on the application.

[0006] The present invention has been made in view of the above circumstances, and its object is to provide an object shape measurement system and an object shape measurement method that are capable of measuring the shape of an object in a simple manner. [Means for solving the problem]

[0007] One aspect of the present invention for solving the above-mentioned problems is an object shape measurement system including a measuring device equipped with an image capture device that captures images of a stationary object and an accelerometer that measures its own current acceleration, and an information processing device, wherein the information processing device includes a storage device that stores images of the object at each timing when the measuring device is located at the first point and the second point, which images are acquired from the measuring device as the measuring device moves from a first point to a second point while the image capture device captures images of the stationary object, and accelerations measured by the accelerometer at each timing, which are acquired from the measuring device, and a storage device that stores the accelerations of the measuring device in real space at each timing based on the stored accelerations. an object position calculation process that calculates the position of the object on each image at each timing based on each of the stored images; a distance calculation process that calculates the distance in real space between the measuring device and the object at each timing based on the calculated position of the measuring device in real space and the calculated position of the object on each image at each timing and characteristic information of the shooting device; a calculation process that calculates the position of the object in real space based on the calculated distance at each timing; and an output process that outputs information on the calculated position in real space to an output device. [Effects of the Invention]

[0008] According to the present invention, the shape of an object can be measured using a simple method. [Brief explanation of the drawings]

[0009] [Figure 1] 1 is a diagram illustrating an example of the configuration of an object shape measuring system according to an embodiment of the present invention. [Figure 2] FIG. 2 is a diagram illustrating an example of a functional unit included in an information processing apparatus. [Figure 3] FIG. 1 is a flow diagram illustrating an example of object shape measurement performed in an object shape measurement system. [Figure 4] FIG. 10 is a diagram showing movement of a measurer from a measurement start position to a measurement end position. [Figure 5] FIG. 2 is a diagram illustrating an example of a database stored in a storage device. [Figure 6] FIG. 10 is a diagram illustrating an example of data stored in a database. [Figure 7] 10A and 10B are diagrams illustrating details of the device position calculation process, object image position calculation process, and object position calculation process related to the x coordinate. [Figure 8] 10A and 10B are diagrams illustrating details of the device position calculation process, object image position calculation process, and object position calculation process related to the y coordinate. [Figure 9] 10A and 10B are diagrams illustrating details of the device position calculation process, object image position calculation process, and object position calculation process related to the z coordinate. [Figure 10] 10A and 10B are diagrams illustrating an example of a method for calculating a conversion ratio between a pixel interval on an image and a distance in real space. [Figure 11] 10A and 10B are diagrams illustrating details of a method for calculating the positions of object points. [Figure 12] 10A and 10B are diagrams illustrating details of a method for calculating the positions of object points. [Figure 13] 10A and 10B are diagrams illustrating details of a method for calculating the positions of object points. [Figure 14] FIG. 10 is a diagram showing an example of a detection result display screen. DETAILED DESCRIPTION OF THE INVENTION

[0010] Hereinafter, embodiments of the present invention will be described with reference to the drawings.

[0011] 1 is a diagram showing an example of the configuration of an object shape measuring system 1 according to this embodiment. The object shape measuring system 1 is an information processing system for grasping the shape of an object (for example, furniture; hereinafter, referred to as a target object) that is stationary and installed at a predetermined position.

[0012] The object shape measuring system 1 includes a measuring device 10, an information processing device 20, an output device 30 such as a monitor, and a storage device 40 such as an HDD (Hard Disk Drive) or an SSD (Solid State Drive).

[0013] The measuring device 10 comprises an image capture device 50 for capturing an image of a stationary target object, and an accelerometer 60 for measuring its own current acceleration.

[0014] The photographing device 50 has an image sensor (CMOS, CCD, etc.) of a predetermined size that converts light into a digital signal, and photographs an image with a predetermined number of pixels.

[0015] The information processing device 20 includes an arithmetic device 21 such as a CPU (Central Processing Unit), a memory 22 such as a RAM (Random Access Memory) or a ROM (Read Only Memory), an input interface 23 for communicating with the measurement device 10, an output interface 24 for communicating with the output device 30, and a communication interface 25 for communicating with the storage device 40. The input interface 23, the output interface 24, and the communication interface 25 are configured, for example, by a NIC (Network Interface Card), a wireless communication module, a USB (Universal Serial Interface) module, or a serial communication module.

[0016] The information processing device 20 may be provided with an input interface including a keyboard, a mouse, a touch panel, and the like.

[0017] The information processing device 20 and the storage device 40 are connected by a wired or wireless communication network 5 such as the Internet, a local area network (LAN), a wide area network (WAN), or a dedicated line.

[0018] The measuring device 10 is a device of a weight and size that can be carried by a person using the object shape measurement system 1. The person moves while holding the measuring device 10 and taking images of the target object. The information processing device 20 estimates the shape of the target object based on the data collected from the measuring device 10. Note that the information processing device 20 may be incorporated into the measuring device 10.

[0019] 2 is a diagram illustrating an example of functional units included in the information processing device 20. The information processing device 20 includes a data storage unit 201, a shooting position calculation unit 202, an object image position calculation unit 203, a shooting distance calculation unit 204, an object position calculation unit 205, and an output unit 206.

[0020] The data storage unit 201 acquires and stores images of a target object at each timing when the measuring device 10 is located at the first point and the second point from the measuring device 10 that has moved from a point (first point) where the photographing device 50 is photographing an image of the stationary target object to the next point (second point).

[0021] Furthermore, the data storage unit 201 acquires from the measuring device 10 the acceleration measured by the accelerometer 60 at each of the above timings and stores it.

[0022] The photographing position calculation unit 202 calculates the position of the measuring device 10 in real space at each timing based on the accelerations stored in the data storage unit 201.

[0023] The object image position calculation unit 203 calculates the position of the target object on each image at each timing based on each image stored in the data storage unit 201 .

[0024] The shooting distance calculation unit 204 calculates the distance in real space between the measuring device 10 and the target object at each timing based on the position of the measuring device 10 in real space calculated by the shooting position calculation unit 202 and the position of the target object in each image calculated by the object image position calculation unit 203 at each of the above timings, as well as characteristic information of the shooting device 50.

[0025] The object position calculation unit 205 calculates the position of the target object in real space based on the distance at each timing calculated by the shooting distance calculation unit 204.

[0026] The output unit 206 outputs information on the position in real space calculated by the object position calculation unit 205 to the output device 30.

[0027] The functions of the information processing device 20 described above are realized by the hardware of the information processing device 20, or by the arithmetic unit 21 of the information processing device 20 reading and executing each program stored in the memory 22 or the storage device 40. These programs are stored in a storage device such as a secondary storage device, a nonvolatile semiconductor memory, a hard disk drive, or an SSD, or a recording medium readable by each device, such as an IC card, an SD card, or a DVD. All or part of each device may be realized using virtual information processing resources provided using virtualization technology, process space separation technology, or the like, such as a virtual server provided by a cloud system. All or part of the functions provided by the information processing device 20 may be realized by a service provided by a cloud system via an API (Application Programming Interface), for example. Next, the processing performed in the object shape measurement system 1 will be described.

[0028] FIG. 3 is a flow diagram illustrating an example of object shape measurement performed in object shape measurement system 1.

[0029] First, the person holding the measuring device 10 moves to a position (hereinafter referred to as the measurement start position) away from the target object (s1). Then, the person starts up the measuring device 10 (the image capturing device 50 and the accelerometer 60).

[0030] 4, the person measuring 44 starts moving from measurement start position 41 toward the end position (hereinafter referred to as measurement end position 42) (hereinafter the timing at which this movement starts is referred to as measurement start time). During the movement, the person measuring 44 points the shooting direction of the image capturing device 50 toward the target object 43, and captures a video so that the target object 43 appears near the center of the captured image.

[0031] While the person being measured is moving, the image capturing device 50 captures moving images of the target object at each timing during the movement, and the accelerometer 60 measures the acceleration of the accelerometer 60 (i.e., the measuring device 10) at each timing (s2).

[0032] The measurement device 10 transmits the image captured at s2 and the information on the measured acceleration to the information processing device 20, and the information processing device 20 receives this information.

[0033] The information processing device 20 stores the received image and acceleration information in the database of the storage device 40 (s3).

[0034] Furthermore, the information processing device 20 identifies the coordinates on the image of multiple characteristic parts (hereinafter referred to as object points) of the target object depicted in the image received from the measuring device 10 based on a predetermined object detection algorithm such as YOLO (You Only Look Once), Deformable Parts Models (DPM), R-CNN, or Fast R-CNN, and stores information on the identified coordinates in the storage device 40 (s4).

[0035] The object points are, for example, portions (edges, vertices, etc.) of the contour of the target object or parts that make up the target object, but are not particularly limited.

[0036] Thereafter, the information processing device 20 executes a device position calculation process s5 for calculating the position in real space of the moving measuring device 10 based on the acceleration information received in s3.

[0037] Furthermore, the information processing device 20 executes an object image position calculation process s6 for calculating the position of the moving target object on the image based on the image information received in s3.

[0038] Then, the information processing device 20 executes an object position calculation process s7 to calculate the position of the target object in real space based on the position of the measuring device 10 in real space calculated in the device position calculation process s5 and the position of the target object on the image calculated in the object image position calculation process s6.

[0039] Then, the information processing device 20 displays a detection result display screen showing the shape of the target object calculated in the processes up to this point (s8).

[0040] Meanwhile, subject 44 has moved to predetermined measurement end position 42. The processes of s2 to s8 are executed until the timing of moving to measurement end position 42 (measurement end time) (s9: NO in FIG. 3). On the other hand, when subject 44 has moved to the measurement end position (s9: YES), the process ends. In this case, information processing device 20 or measuring device 10 may automatically end the process or capture, or subject 44 may end the operation of information processing device 20 or measuring device 10.

[0041] The measuring device 10 may transmit the image and acceleration information to the information processing device 20 while moving, or may transmit them all at once to the information processing device 20 after the measurer arrives at the measurement end position.

[0042] (Database) 5 is a diagram showing an example of a database 500 stored in the storage device 40. This database 500 contains data including a video 510 consisting of a plurality of images 511 captured by the image capture device 50, capture timings 521 (ticks) of the video 510, image positions 522 (horizontal pixel positions and vertical pixel positions) of the target object on the image 511 in the video 510 at each capture timing, and accelerations 523 measured by the accelerometer 60 at each capture timing. The accelerations 523 include the accelerations of each component of three-dimensional spatial coordinates. In this embodiment, the accelerations are assumed to be the accelerations of each component of three-dimensional Cartesian coordinates (x and y coordinates forming the horizontal direction and z coordinate forming the vertical direction).

[0043] 6 is a diagram showing an example of data stored in database 500. As shown in the figure, database 600 includes images 601 of doors photographed from different directions at each photographing timing t, coordinates 602 on the image of the object points of the target object (here, the four corners of the door) in each image 601, and acceleration 603 of each component at each timing t.

[0044] <Device position calculation process s5, object image position calculation process s6, object position calculation process s7> Next, the device position calculation process s5, the object image position calculation process s6, and the object position calculation process s7 will be described in detail.

[0045] FIG. 7 is a diagram for explaining details of the device position calculation process s5, object image position calculation process s6, and object position calculation process s7 relating to the x coordinate. FIG. 8 is a diagram for explaining details of the device position calculation process s5, object image position calculation process s6, and object position calculation process s7 relating to the y coordinate. FIG. 9 is a diagram for explaining details of the device position calculation process s5, object image position calculation process s6, and object position calculation process s7 relating to the z coordinate.

[0046] In the device position calculation process s5, the information processing device 20 executes the processes shown in FIGS. 7, 8, and 9 for each timing from the measurement start time to the measurement end time (each measurement point from the measurement start point to the measurement end point).

[0047] That is, first, the information processing device 20 calculates a distance 71 in real space between a position F1 (i.e., a first point) at a timing (hereinafter referred to as a first timing) when the measuring device 10 is located at the position F1, and a position F2 (i.e., a second point) at a timing (hereinafter referred to as a second timing, for example, the timing of the image following the image at the first timing) when the measuring device 10 is located at the position F2 after the first timing. For example, the information processing device 20 calculates each component of the distance 71 by time-integrating the acceleration 523 of each component (x, y, z) in the database 500 twice from the first timing to the second timing.

[0048] Next, in object image position calculation processing s6, the information processing device 20 calculates the distance (hereinafter referred to as image distance) between position Z1 on the image of the object point imaged by the image capturing device 50 at the first timing and position Z2 on the image of the object point imaged by the image capturing device 50 at the second timing. For example, the information processing device 20 calculates the distance from the first timing to the second timing of image position 522 of each component (x, y, z) in the database 500.

[0049] Then, the information processing device 20 calculates the distance between each object point of the target object and the measurement device 10 in an object position calculation process s7.

[0050] Specifically, first, the information processing device 20 calculates the ratio between the pixel interval on the image and the distance in real space based on the characteristics of the image capturing device 50.

[0051] 10, the information processing device 20 acquires a size 91 (e.g., 36 mm×24 mm) of the image sensor of the photographing device 50 and a size 92 (e.g., 1920 px×1080 px) of the pixels of an image photographed by the photographing device 50 from a predetermined database or the photographing device 50. Then, the information processing device 20 calculates a ratio 93 between the distance in real space and the pixels of the image by calculating the ratio between the size of the image sensor and the image size (e.g., 36 / 1920, 24 / 1080).

[0052] The information processing device 20 calculates the distance 94 in real space between the position Z1 on the image of the object point and the position Z2 on the image of the object point, based on the calculated image distance and the ratio.

[0053] Next, the information processing device 20 acquires the focal length f (for example, 50 mm) of the image capturing device 50 from a predetermined database or the image capturing device 50 or the like.

[0054] Then, as shown in Figures 7, 8, and 9, the information processing device 20 calculates the distance L1 from the object point P to the position F1 and the distance L2 from the object point P to the position F2 for each component based on the distance 71 in real space between the positions F1 and F2, the distance 72 in real space between the positions Z1 and Z2, and the focal length f of the imaging device 50.

[0055] Finally, the information processing device 20 calculates the position of the object point P based on the calculated distances.

[0056] 11-13 are diagrams illustrating the details of the method for calculating the position of the object point P. FIG.

[0057] The information processing device 20 acquires the position in real space of the measuring device 10 (camera device 50) at the first timing and the distance between the measuring device 10 (camera device 50) and the object point calculated for the first timing from the database 500 and the results of the processing described in Figures 7, 8, and 9, respectively, to identify a set 1001 of candidate positions of the object point at the first timing (a sphere centered on the position of the measuring device 10 and with the above distance as its radius) (Figure 11).

[0058] For a second timing after the first timing, the information processing device 20 identifies a set 1101 of position candidates for the object point at the second timing, in the same manner as for the first timing. Then, the information processing device 20 identifies two positions 1102 and 1103 where the set 1001 of position candidates for the object point at the first timing matches the set 1101 of position candidates for the object point at the second timing (FIG. 12).

[0059] Furthermore, for a third timing after the second timing, the information processing device 20 identifies a set 1201 of position candidates for the object point at the third timing, in the same manner as for the first timing. Then, of the two positions 1102 and 1103, the information processing device 20 identifies the position 1103 that intersects with the set 1201 of position candidates for the object point at the third timing as the position of the object point (FIG. 13).

[0060] The information processing device 20 performs the above steps s5 to s7 for each object point to calculate the position of each object point in real space. The information processing device 20 also calculates the distance between object points in real space.

[0061] In this way, the information processing device 20 executes the processes of s5-s7 for each of a plurality of timings from the measurement start time to the measurement end time (for each of a plurality of different points from the measurement start point to the measurement end point), and calculates the positions of object points in real space and the distances in real space between object points a plurality of times. Then, the information processing device 20 determines the positions of object points in real space or the distances in real space between object points to specific values ​​by predetermined statistical processing (for example, calculation of an average value, approximation using the least squares method or a Kalman filter).

[0062] (Detection result display screen) 14 is a diagram showing an example of a detection result display screen. This detection result display screen 1300 displays a target object 1310 drawn based on the coordinates of each object point 1301 calculated by the information processing device 20. The detection result display screen 1300 also displays distances 1302 in real space between the object points 1301 (for example, the outer dimensions of each side of a door). Alternatively, an area 1303 of a region surrounded by multiple object points 1301 may be displayed.

[0063] As described above, in the object shape measurement system 1 of this embodiment, the measuring device 10 is equipped with the imaging device 50 and the accelerometer 60, and the information processing device 20 calculates the position of the target object in each image at each timing based on each image at a first timing and a second timing acquired from the imaging device 50 as it moves while taking images of the target object, calculates the position of the measuring device 10 in real space based on each acceleration measured by the accelerometer 60 at each timing, calculates the distance in real space between the measuring device 10 and the target object at each timing based on the calculated positions of the target object in each image and the real-space position of the measuring device 10, and characteristic information of the imaging device 50, and calculates the position of the target object in real space based on each calculated distance and outputs it to the output device.

[0064] In other words, the object shape measurement system 1 of this embodiment calculates the position of the target object on the image using the camera 50, while calculating the real-space position of the subject taking the photograph in real space using the accelerometer 60, and by adding characteristic information of the camera 50 to these positions, it is possible to calculate the real-space position of the target object.

[0065] As described above, the object shape measuring system 1 of this embodiment can measure the shape of an object in a simple manner.

[0066] In addition, the object shape measurement system 1 of this embodiment calculates the ratio between the pixel of the image and the distance in real space corresponding to the pixel based on the pixel size of the image captured by the photographing device 50 and the size of the image sensor equipped in the photographing device 50, and calculates the distance in real space between the measuring device 10 and the target object using the calculated ratio.

[0067] In this way, by using the pixel size of the imaging device and the specifications of the image sensor, it is possible to calculate the distance in real space with high accuracy.

[0068] In addition, the object shape measurement system 1 of this embodiment calculates the position of each characteristic part (object point) in each image of the target object, calculates the distance in real space between the measurement device 10 and each characteristic part of the target object based on the calculated position of each characteristic part in each image, and calculates the position in real space of each characteristic part of the target object based on the calculated distances.

[0069] In this way, by calculating the positions in real space of characteristic parts of the target object (parts that make up the contour of the target object, etc.), the shape of the object can be accurately grasped.

[0070] Furthermore, the object shape measuring system 1 of this embodiment outputs to the output device 30 a diagram representing the shape of the target object based on the position of each characteristic part of the target object in real space.

[0071] This allows the shape of the object to be easily recognized visually.

[0072] Furthermore, the object shape measuring system 1 of this embodiment outputs to the output device 30 information indicating the size of the sides or areas that make up the shape of the target object, based on the position of each characteristic part of the target object in real space.

[0073] This allows the dimensions of the target object to be confirmed.

[0074] The above description of the embodiments is intended to facilitate understanding of the present invention, and is not intended to limit the present invention. The present invention may be modified or improved without departing from the spirit thereof, and the present invention includes equivalents thereof.

[0075] For example, part of the hardware provided in each device of this embodiment may be provided in another device.

[0076] Furthermore, each program of each device may be provided in another device, a program may consist of multiple programs, or multiple programs may be integrated into one program.

[0077] In addition, in this embodiment, the case where the measurer holds the measuring device 10 and moves it from the measurement start point to the measurement end point has been described, but the measuring device may be provided on a predetermined transport mechanism (rails, etc.), and the transport mechanism may be used to move the measuring device 10 from the measurement start point to the measurement end point.

[0078] Furthermore, in this embodiment, the size of the image sensor and the pixel size of the image capturing device 50 are used to convert the distance on the image into the distance in real space, but other conversion parameters may also be used.

[0079] Furthermore, in this embodiment, the case of estimating the shape of an object (furniture, etc.) has been described, but the present invention can also be applied to the case of estimating the shape of a space corresponding to the object (i.e., the shape of an object such as a floor or wall). [Explanation of symbols]

[0080] 1 Object shape measurement system, 10 Measuring device, 20 Information processing device, 30 Output device, 40 Storage device, 50 Photography device, 60 Accelerometer

Claims

1. An object shape measurement system including a measuring device having an image capturing device that captures an image of a stationary object and an accelerometer that measures its own current acceleration, and an information processing device, The information processing device includes: a storage device that stores images of the stationary object acquired from the measuring device that moves from a first location to a second location while the imaging device captures images of the object at each timing when the measuring device is located at the first location and the second location, and accelerations measured by the accelerometer at each timing acquired from the measuring device; and a photographing position calculation process for calculating a position of the measuring device in real space at each of the timings based on the stored accelerations; an object position calculation process for calculating the position of the object on each image at each timing based on each of the stored images; a distance calculation process for calculating a distance in real space between the measuring device and the object at each of the timings based on the calculated position of the measuring device in real space and the calculated position of the object on each image at each of the timings, and characteristic information of the imaging device; a calculation process for calculating a position of the object in real space based on the calculated distance at each timing; and an output process of outputting the calculated information on the position in real space to an output device. Object shape measurement system.

2. The computing device In the distance calculation process, a ratio between a pixel of the image captured by the image capture device and a distance in real space corresponding to the pixel is calculated based on the pixel size of the image captured by the image capture device and the size of an image sensor included in the image capture device, and the distance in real space is calculated based on the calculated ratio, the position of the measurement device in real space, and the position of the object in each image. The object shape measurement system according to claim 1 .

3. The computing device In the object position calculation process, a position on each image of each characteristic part of the object at each timing is calculated; in the distance calculation process, calculating a distance in real space between the measuring device and each characteristic part of the object at each timing based on the calculated position of the measuring device in real space and the calculated position of each characteristic part on each image at each timing, and characteristic information of the imaging device; In the calculation process, a position in real space of each characteristic part of the object is calculated based on the calculated distance at each timing. The object shape measurement system according to claim 1 .

4. The computing device In the output process, a graphic representing the shape of the object is output to an output device based on the calculated positions of each characteristic part of the object in real space. The object shape measurement system according to claim 1 .

5. The computing device In the output process, information representing the size of a side or an area constituting the shape of the object is output to an output device based on the calculated positions of each characteristic part of the object in real space. The object shape measurement system according to claim 4 .

6. The computing device calculating the real-space position of the object for each of a plurality of different movements of the measurement device from a first point to a second point, and performing predetermined statistical processing on each calculated real-space position to identify the real-space position of the object; The object shape measurement system according to claim 1 .

7. 1. An object shape measurement method in an object shape measurement system including: a measuring device having an image capturing device that captures an image of a stationary object and an accelerometer that measures its own current acceleration; a storage device that stores images of the object at each timing when the measuring device is located at the first point and the second point, which images are acquired from the measuring device as the measuring device moves from a first point to a second point while the image capturing device captures images of the stationary object; and accelerations measured by the accelerometer at each timing, which are acquired from the measuring device; and an information processing device that includes a calculation device, The computing device a photographing position calculation process for calculating a position of the measuring device in real space at each of the timings based on the stored accelerations; an object position calculation process for calculating the position of the object on each image at each timing based on each of the stored images; a distance calculation process for calculating a distance in real space between the measuring device and the object at each of the timings based on the calculated position of the measuring device in real space and the calculated position of the object on each image at each of the timings, and characteristic information of the imaging device; a calculation process for calculating a position of the object in real space based on the calculated distance at each timing; and executing an output process of outputting the calculated information on the position in real space to an output device. Object shape measurement method.

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